CN106267790B - A kind of the twisting double-wheel scooter and control method of automatic control - Google Patents
A kind of the twisting double-wheel scooter and control method of automatic control Download PDFInfo
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- CN106267790B CN106267790B CN201610831611.XA CN201610831611A CN106267790B CN 106267790 B CN106267790 B CN 106267790B CN 201610831611 A CN201610831611 A CN 201610831611A CN 106267790 B CN106267790 B CN 106267790B
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- plate
- wobble
- servo motor
- scooter
- gyroscope
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/01—Skateboards
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/01—Skateboards
- A63C17/014—Wheel arrangements
- A63C17/016—Wheel arrangements with wheels arranged in one track
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/12—Roller skates; Skate-boards with driving mechanisms
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C2203/00—Special features of skates, skis, roller-skates, snowboards and courts
- A63C2203/12—Electrically powered or heated
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C2203/00—Special features of skates, skis, roller-skates, snowboards and courts
- A63C2203/18—Measuring a physical parameter, e.g. speed, distance
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- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses the twisting double-wheel scooters and control method of a kind of automatic control, mainly include preceding wobble-plate, rear wobble-plate, front idler wheel, rear idle pulley, servo motor, link block, sensor group, battery pack and controller.It is connected between preceding wobble-plate and rear wobble-plate by servo motor, for user in swing on scooter, the rhythm driving servo motor of controller cooperation user carries out positive and negative rotation, to improve the efficiency of twisting, realizes and accelerates advance, efficient turning function.Controller adjusts the output of servo motor according to the monitoring data of gyroscope, and scooter is made to keep equilibrium state as far as possible, provides balance auxiliary well for beginner.The components such as servo motor, battery pack are installed in below scooter, and center of gravity can be significantly reduced, and are effectively improved stability and counterbalance effect, the handling of controller when scooter is swung and are obtained larger raising.Structure of the invention is simple, operation is easy, and can effectively assist user to raise speed and excessively curved, and the moment keeps equilibrium state.
Description
Technical field
The present invention relates to amusement equipment and sports equipment field more particularly to a kind of automatic control for assisting twisting are dynamic
State balance twisting double-wheel scooter and its control method.
Background technique
The vehicles of two wheel drives include Bicycles and Motorcycles, they are front and back wheel configurations, manually drive peace
Weighing apparatus, but develop in terms of autobalance and turn to entertainment orientation.What is occurred before more than ten years is flat by the two-wheel of representative of Segway
Weighing, vehicle is self-powered, and two-wheeled is arranged side-by-side, and has fabulous balance and driving, can be used for indoor and outdoor short distance traffic, very
It is convenient, and great entertainment.
There are kind of a two wheel monorail balancing skateboard vehicles quite to be liked by teenager at present, can be used for short distance traffic and amusement is strong
Body.This scooter is trampled the wobble plate that rocks back and forth by the both feet of people respectively and is twisted, and realizes that scooter advance and turning etc. are dynamic
Make, and keeps scooter balance during enforcement.Although this scooter trample action is simple (both feet slightly twisting), behaviour
Work gets up to be not easy, and needs user to carry out the training of a period of time just as bicycle, could skillfully control.And it is this
Pure manually driven scooter is larger to the requirement of user's physical efficiency, is unfavorable for as short distance traffic tool and carries out amusement work for a long time
It is dynamic.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide one kind, and twisting efficiency can be improved, reduces physical efficiency
Consumption, and user is assisted to realize the twisting double-wheel scooter balanced.
Another object of the present invention is to overcome the deficiencies of the prior art and provide a kind of control based on above-mentioned double-wheel scooter
Method processed.
The purpose of the invention is achieved by the following technical solution:
A kind of twisting double-wheel scooter of automatic control, mainly include preceding wobble-plate, rear wobble-plate, front idler wheel, rear idle pulley,
Servo motor, link block, sensor group, battery pack and controller.The front idler wheel is connect with preceding wobble-plate, can be around preceding wobble-plate
Rotation, the rear idle pulley connect with rear wobble-plate, can rotate around rear wobble-plate.The servo motor and battery pack are shaken before being mounted on
In wobble plate, link block is mounted on rear wobble-plate, and output shaft and the link block of the servo motor are fixed, and makes preceding wobble-plate with after
Wobble-plate establishes connection, and advance is waved under the driving of servo motor.The controller be mounted on before on wobble-plate, respectively with
Servo motor, sensor group are connected with battery pack, for controlling servo motor, the feedback data of receiving sensor group.
Specifically, the sensor group includes the first gyroscope and the second gyroscope, use for monitoring scooter posture
In the first rotary angle transmitter and the second rotary angle transmitter, the first revolving speed for measuring idle pulley speed of measurement idle pulley steering angle
Sensor and the second speed probe and for detecting the first pressure sensor of pressure and second pressure sensing on wobble-plate
Device.First gyroscope and the second gyroscope are separately mounted on preceding wobble-plate and rear wobble-plate, at work, for monitoring
The movement and intention of user.First rotary angle transmitter and the second rotary angle transmitter be separately mounted to before wobble-plate with it is preceding lazy
The junction of the junction of wheel and rear wobble-plate and rear idle pulley monitors the rotational angle of front idler wheel and rear idle pulley, for turning
Auxiliary judgment.First speed probe and the second speed probe are separately mounted in the shaft of front idler wheel and rear idle pulley,
The revolving speed for detecting front idler wheel and rear idle pulley, for judging the current speed of scooter and adjusting the rotational frequency of servo motor.Institute
It states first pressure sensor and second pressure sensor is separately mounted on preceding wobble-plate and rear wobble-plate, monitored whether user
It steps on scooter.The controller is passed with the first gyroscope, the second gyroscope, the first rotary angle transmitter, the second corner respectively
Sensor, the first speed probe, the second speed probe, first pressure sensor are connected with second pressure sensor, are received and are passed
The feedback data of sensor, for adjusting the output of servo motor.
As a preferred solution of the present invention, the servo motor, link block and battery pack are installed in the lower section of scooter,
Design reduces the center of gravity of complete machine in this way, is conducive to the stability and balance that improve scooter, while allowing double-wheel scooter
There are more spaces for top for users to use.
Further, the installation site of the servo motor and link block is interchangeable, and identical function equally may be implemented,
Serve identical.
As a preferred solution of the present invention, the steer axis of the front idler wheel and preceding wobble-plate plane tilt, lazy after described
The steer axis of wheel and rear wobble-plate plane tilt.The incline structure may be implemented when front and back wobble-plate is swung, front and back idle pulley
It is oppressed and is rotated to specific direction, the purpose of the rotational efficienty of two-wheel robot can be improved.
Another object of the present invention is achieved through the following technical solutions:
A kind of control method of the twisting double-wheel scooter of automatic control, this method mainly include the following steps:
Step S1: double-wheel scooter electrifying startup, servo motor resets the wobble plate that makes to rock back and forth and is restored to horizontal position, and examines
Whether normal survey all the sensors (gyroscope, rotary angle transmitter, speed probe, pressure sensor), if breaking down, servo
Motor does not work then, until fault restoration.
Step S2: detection pressure signal (value of front and back pressure sensor) is to determine whether have user to ride over top, if nothing
Pressure signal, servo motor are then in standby.
Step S3: after detecting that user rides scooter, by monitoring sensor (based on gyroscope, rotary angle transmitter,
Supplemented by speed probe) numerical value come judge user advance, accelerate and turning be intended to.
Wherein, the step S3 further includes following steps:
Step S31: it goes to sentence according to the detection data of gyroscope and rotary angle transmitter and in conjunction with the preceding wobble-plate inclined time
Whether disconnected user, which needs, is turned, and when judgement is the result is that when needing to be implemented turning, wobble-plate tendency turns before servo motor then drives
Curved side, the other side of rear wobble-plate tendency turning, and servo motor is locked, the posture of two pieces of wobble-plates is kept,
Improve turning efficiency.
Step S32: judging whether user will raise speed according to speed probe and the frequency data for the wobble plate swing that rocks back and forth,
If judging result is when needing to be implemented speed-raising, motor improves the frequency and amplitude of swing, and auxiliary user accelerates forward speed, subtracts
The physical consumption of few user.
Working process and principle of the invention are: being connected between preceding wobble-plate and rear wobble-plate of the invention by servo motor
It connects, in swing on scooter, the rhythm driving servo motor of controller cooperation user carries out user according to certain frequency
Positive and negative rotation realizes function that is quick, accelerating advance, efficiently turn to improve the efficiency of twisting.Secondly, controller can basis
The monitoring data of gyroscope adjust the output of servo motor in real time, so that the scooter moment is kept equilibrium state as far as possible, this is set as
Beginner provides balance booster action well.In addition, the components such as servo motor, battery pack are installed in below scooter, it should
Design significantly reduces the center of gravity of scooter, makes it closer to ground, can effectively improve stability and balance when scooter is swung
Effect, the handling of controller are similarly obtained larger raising.Structure of the invention is simple, operation is easy, and can effectively assist user
It raises speed and excessively curved, and the moment keeps equilibrium state.
Compared with prior art, it also have the advantage that
(1) twisting double-wheel scooter center of gravity provided by the invention is low, can effectively improve stability when swing, significantly change
The counterbalance effect of kind scooter.
(2) present invention monitors the swing state of scooter by gyroscope, and the controller moment analyzes the posture of scooter
Data, and the output of servo motor is adjusted, allow scooter to keep equilibrium state.
(3) present invention adjusts the output of servo motor in time, improves slide plate by predicting and judging that the operation of user is intended to
The twisting efficiency of vehicle, reduces the physical consumption of user, and scooter is made to obtain preferably acceleration and curving effect.
Detailed description of the invention
Fig. 1 is the perspective view provided by the present invention for automatically controlling twisting double-wheel scooter.
Fig. 2 is the structural schematic diagram of speed probe provided by the present invention.
Fig. 3 is twisting double-wheel scooter control block diagram provided by the present invention.
Fig. 4 is the control flow chart of twisting double-wheel scooter provided by the present invention.
Label declaration in above-mentioned attached drawing:
Wobble-plate, 5- battery pack, 6- control before the first rotary angle transmitter of 1-, 2- first pressure sensor, 3- front idler wheel, 4-
Device, the first gyroscope of 7-, 8- servo motor, 9- motor cabinet, 10- link block, the second gyroscope of 11-, the second rotation angular sensing of 12-
Wobble-plate, 15- second pressure sensor, the first speed probe of 16-, the second revolution speed sensing of 17- after idle pulley, 14- after device, 13-
Device.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer and more explicit, right as follows in conjunction with drawings and embodiments
The present invention is described further.
Embodiment 1:
As shown in Figure 1, Figure 2 and Figure 3, the twisting double-wheel scooter of a kind of automatic control, mainly include preceding wobble-plate 4, after
Wobble-plate 14, front idler wheel 3, rear idle pulley 13, servo motor 8, link block 10, sensor group, battery pack 5 and controller 6.Before described
Idle pulley 3 is connect with preceding wobble-plate 4, can be rotated around preceding wobble-plate 4, and the rear idle pulley 13 is connect with rear wobble-plate 14, can be shaken after
Wobble plate 14 rotates.Before the servo motor 8 and battery pack 5 are mounted on wobble-plate 14, link block 10 is mounted on rear wobble-plate 4
On, the output shaft and link block 10 of the servo motor 8 are fixed, so that preceding wobble-plate 4 is established connection with rear wobble-plate 14, and watching
It takes and waves advance under the driving of motor 8.The controller 6 be mounted on before on wobble-plate 4, respectively with servo motor 8, sensor group
It is connected with battery pack 5, for controlling servo motor 8, the feedback data of receiving sensor group.
Specifically, the sensor group include the first gyroscope 7 for monitoring scooter posture and the second gyroscope 11,
For measuring the first rotary angle transmitter 1 and the second rotary angle transmitter 12, for measuring idle pulley speed of idle pulley steering angle
One speed probe 16 and the second speed probe 17 and 2 and of first pressure sensor for detecting pressure on wobble-plate
Second pressure sensor 15.First gyroscope 7 and the second gyroscope 11 are separately mounted to preceding wobble-plate 4 and rear wobble-plate 14
On, at work, for monitoring the movement and intention of user.First rotary angle transmitter 1 and the second rotary angle transmitter 12
It is separately mounted to preceding wobble-plate 4 and the junction of front idler wheel 3 and the junction of rear wobble-plate 14 and rear idle pulley 13, monitors front idler wheel
3 and rear idle pulley 13 rotational angle, the auxiliary judgment for turning.First speed probe 16 and the second speed probe
17 are separately mounted in the shaft of front idler wheel 3 and rear idle pulley 13, detect the revolving speed of front idler wheel 3 and rear idle pulley 13, slide for judging
The current speed of wooden handcart and the rotational frequency for adjusting servo motor 8.The first pressure sensor 2 and second pressure sensor 15
It is separately mounted on preceding wobble-plate 4 and rear wobble-plate 14, has monitored whether that user steps on scooter.The controller 6 is distinguished
With the first gyroscope 7, the second gyroscope 11, the first rotary angle transmitter 1, the second rotary angle transmitter 12, the first speed probe 16,
Second speed probe 17, first pressure sensor 2 and second pressure sensor 15 connect, the feedback data of receiving sensor,
For adjusting the output of servo motor 8.
As a preferred solution of the present invention, the servo motor 8, link block 10 and battery pack 5 are installed in scooter
The center of gravity that lower section, in this way design reduce complete machine is conducive to the stability and balance that improve scooter.
Further, the installation site of the servo motor 8 and link block 10 is interchangeable, and identical function equally may be implemented
Can, serve identical.
As a preferred solution of the present invention, the steer axis of the front idler wheel 3 and preceding 4 plane of wobble-plate tilt, after described
The steer axis of idle pulley 13 and rear 14 plane of wobble-plate tilt.
In conjunction with shown in Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the invention also discloses a kind of twisting double-wheel scooters of automatic control
Control method, this method mainly include the following steps:
Step S1: double-wheel scooter electrifying startup, servo motor 8 reset the wobble plate that makes to rock back and forth and are restored to horizontal position, and
Whether normal all the sensors (gyroscope, rotary angle transmitter, speed probe, pressure sensor) is detected, if failure, is watched
It takes motor 8 not work then, until fault restoration.
Step S2: detection pressure signal (value of front and back pressure sensor) is to determine whether have user to ride over top, if nothing
Pressure signal, servo motor 8 are then in standby.
Step S3: after detecting that user rides scooter, by monitoring sensor (based on gyroscope, rotary angle transmitter,
Supplemented by speed probe) numerical value come judge user advance, accelerate and turning be intended to.
Wherein, the step S3 further includes following steps:
Step S31: it goes to sentence according to the detection data of gyroscope and rotary angle transmitter and in conjunction with the preceding wobble-plate 4 inclined time
Whether disconnected user, which needs, is turned, and when judgement is the result is that when needing to be implemented turning, wobble-plate 4 is inclined to before servo motor 8 then drives
The side of turning, the other side of the rear tendency of wobble-plate 14 turning, and servo motor 8 is locked, keep two pieces of wobble-plates
Posture improves turning efficiency.
Step S32: judging whether user will raise speed according to speed probe and the frequency data for the wobble plate swing that rocks back and forth,
If judging result is when needing to be implemented speed-raising, motor improves the frequency and amplitude of swing, and auxiliary user accelerates forward speed, subtracts
The physical consumption of few user.
Working process and principle of the invention are: passing through servo electricity between preceding wobble-plate 4 and rear wobble-plate 14 of the invention
Machine 8 connects, and for user in swing on scooter, controller 6 cooperates the rhythm driving servo motor 8 of user according to certain frequency
Rate carries out positive and negative rotation, to improve the efficiency of twisting, realizes function that is quick, accelerating advance, efficiently turn.Secondly, controller 6
The output that servo motor 8 can be adjusted in real time according to the monitoring data of gyroscope makes the scooter moment keep equilibrium state as far as possible, should
It is set as beginner and balance booster action well is provided.In addition, the components such as servo motor 8, battery pack 5 are installed in scooter
Lower section, the design significantly reduce the center of gravity of scooter, make it closer to ground, can effectively improve stability when scooter is swung
And counterbalance effect, the handling of controller 6 are similarly obtained larger raising.Structure of the invention is simple, operation is easy, can be effectively auxiliary
Help user raise speed and it is excessively curved, and the moment keep equilibrium state.
Embodiment 2:
As shown in Figure 1, Figure 2, Figure 3 and Figure 4,4 He of wobble-plate before the first gyroscope 7 and the second gyroscope 11 are separately fixed at
Afterwards on wobble-plate 14.4 lower section of wobble-plate, to reduce the center of gravity of complete machine, is conducive to before servo motor 8 is mounted on by motor cabinet 9
The control of the stability and balance of scooter.Link block 10 is fixed on rear wobble-plate 14.The wobble plate that rocks back and forth passes through servo electricity
Machine 8 and link block 10 are connected with each other in the form of concatenated, form the relative rotation around 8 axis of servo motor.Certainly, servo motor 8
It can also be mounted on by motor cabinet 9 before link block 10 on rear wobble-plate 14 is fixed on wobble-plate 4, realize same function
Energy.First speed probe 16 and the second speed probe 17 are tightly placed in respectively on the wheel shaft of front idler wheel 3 and rear idle pulley 13, outside
Shell is simultaneously fixedly connected with preceding wobble-plate 4 and 14 bottom of rear wobble-plate respectively, perceives the revolving speed of idle pulley runner.First rotary angle transmitter
1 and second rotary angle transmitter 12 be respectively arranged on the turntable of front and back idle pulley, perception front and back idle pulley steering angle.Front idler wheel 3
It is fixedly connected respectively with preceding wobble-plate 4 and rear wobble-plate 14 with rear 13 fixing axle of idle pulley, fixing axle is tilted with wobble-plate respectively
One angle (out of plumb).
The signal and front and back idle pulley for detecting signal, front and back idle pulley steering angle sensor of front and rear panel gyroscope of the invention
The detection signal of the signal of speed probe, front and back pressure sensor is transmitted to controller 6 as feedback information.Controller 6 receives
After these signals, the speed and direction that control servo motor 8 rotates, thus frequency, width to the reciprocally swinging for the wobble plate that rocks back and forth
Value, direction are adjusted, and realize the movements such as scooter advance and turning, and keep balancing.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (5)
1. a kind of twisting double-wheel scooter of automatic control, which is characterized in that including preceding wobble-plate, rear wobble-plate, front idler wheel, after
Idle pulley, servo motor, link block, sensor group, battery pack and controller；The front idler wheel is connect with preceding wobble-plate, can be around preceding
Wobble-plate rotation, the rear idle pulley connect with rear wobble-plate, can rotate around rear wobble-plate；The servo motor and battery pack installation
On preceding wobble-plate, link block is mounted on rear wobble-plate, and output shaft and the link block of the servo motor are fixed, and is waved before making
Plate and rear wobble-plate establish connection, and advance is waved under the driving of servo motor；Before the controller is mounted on wobble-plate,
It is connect respectively with servo motor, sensor group and battery pack；
The sensor group includes the first gyroscope for monitoring scooter posture and the second gyroscope, turns for measuring idle pulley
To the first rotary angle transmitter of angle and the second rotary angle transmitter, the first speed probe and second for measuring idle pulley speed
Speed probe and for detecting the first pressure sensor of pressure and second pressure sensor on wobble-plate；Described first
Gyroscope and the second gyroscope are separately mounted on preceding wobble-plate and rear wobble-plate；First rotary angle transmitter and the second corner
Sensor is separately mounted to the junction of preceding wobble-plate and front idler wheel and the junction of rear wobble-plate and rear idle pulley；Described first turn
Fast sensor and the second speed probe are separately mounted in the shaft of front idler wheel and rear idle pulley；The first pressure sensor and
Second pressure sensor is separately mounted on preceding wobble-plate and rear wobble-plate；The controller respectively with the first gyroscope, second
Gyroscope, the first rotary angle transmitter, the second rotary angle transmitter, the first speed probe, the second speed probe, first pressure pass
Sensor is connected with second pressure sensor, the feedback data of receiving sensor.
2. the twisting double-wheel scooter of automatic control according to claim 1, which is characterized in that the servo motor, company
It connects block and battery pack is installed in the lower section of scooter.
3. the twisting double-wheel scooter of automatic control according to claim 1, which is characterized in that the servo motor and company
The installation site for connecing block is interchangeable.
4. the twisting double-wheel scooter of automatic control according to claim 1, which is characterized in that the steering of the front idler wheel
Axis and preceding wobble-plate plane tilt, and the steer axis of the rear idle pulley and rear wobble-plate plane tilt.
5. a kind of control method of the twisting double-wheel scooter of automatic control, which comprises the steps of:
Step S1: double-wheel scooter electrifying startup, reset motor and whether detect all the sensors normal stop if breaking down
Only work；
Step S2: detection pressure signal judges whether there is user and rides over top, if no pressure signal, servo motor is made to be in standby
State；
Step S3: after detecting that user rides scooter, judge that user advances, accelerates and turns by sensor and be intended to and execute
Respective operations；
The step S3 further includes following steps:
Step S31: judgement is gone to use according to the detection data of gyroscope and rotary angle transmitter and in conjunction with the preceding wobble-plate inclined time
Whether family, which needs, is turned, and turning is if desired executed, and servo motor then drives steering and locks；
Step S32: judging whether user needs to raise speed according to speed probe and the frequency data for the wobble plate swing that rocks back and forth, if
It raises speed, motor, which then improves the frequency of swing and amplitude, makes double-wheel scooter accelerate to advance.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610831611.XA CN106267790B (en) | 2016-09-18 | 2016-09-18 | A kind of the twisting double-wheel scooter and control method of automatic control |
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|---|---|---|---|
| CN201610831611.XA CN106267790B (en) | 2016-09-18 | 2016-09-18 | A kind of the twisting double-wheel scooter and control method of automatic control |
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| CN106267790B true CN106267790B (en) | 2019-02-15 |
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| CN108744478B (en) * | 2018-06-14 | 2019-07-12 | 浙江工贸职业技术学院 | A kind of ice skate with vibratory gyroscope equalization brake gear |
| CN110001842B (en) * | 2019-05-15 | 2023-12-05 | 吕林宝 | Balance car |
| CN110696951B (en) * | 2019-08-30 | 2024-05-14 | 广东工业大学 | Automatic driving two-wheeled self-balancing vehicle and control method thereof |
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